点云配准方法

1、A Brief Introduction Of Point Cloud Registration Method 2 Point Cloud Registration MethodPoint Cloud Registration With Target Control34Quaternion Method 21Iterative Closest Point(ICP) Algorithm 4 Outline Two point cloud sets of A and B, are conformations of the same points in different coordinate sy

2、stems Rigid transformation: Objective function:1. Point Cloud Registration With Target Control4面 （a）Leica standard rotation plane target（b） Mensi plane targetFigure 1 Different kinds of plane target （d） Mensi plane target（c）FARO standard plane target 51. Point Cloud Registration With Target Control6

3、 spatial similarity transformation parameters3 angle elements: 3 translation elements: Adjustment model: Or61. Point Cloud Registration With Target Control Rotation matrix: 71. Point Cloud Registration With Target Control The expansion of Taylors formula: Error Equation: 8 G1. Point Cloud Registrati

4、on With Target Control Derivative value: Suppose that:91. Point Cloud Registration With Target Control Error equation matrix: Gravity-centralize:101. Point Cloud Registration With Target Control N pairs of corresponding points: Order:111. Point Cloud Registration With Target Control Error equation:1

5、. Point Cloud Registration With Target Control12 New approximate value: Iteration: Finally, we get the values of parameter: 2. Iterative Closest Point(ICP) Algorithm13Basic thought:Firstly, from a point set, a bar curve, or a surface to find the closest point that corresponds to one point, and then

6、uses this result to find two corresponding point sets. Finally, we find out the corresponding point set and the corresponding transformation matrix.Basic steps:Step1:Search for the nearest pointsStep2:Solve transformation relationsStep3:Application transformationStep4:Repeated iteration3 Quaternion

7、Method What is Quaternion ? 14 Unit quaternions Rotation matrix R 3. Quaternion Method Definite translation vector: 15Complete registration station: Assume that: Minimum objective function: The centroid of the set of basic points :3. Quaternion Method 16 Orthogonal covariance matrix of point set: Antisymmetric matrixs cyclic components: Construct a symmetric matrix:3. Quaternion Method 17 T